Speed of simxCallScriptFunction

[hiros]

Hello,

I have been using a legacy remote API with simxCallScriptFuction to complement the missing functionalities.
I tried to use sim.CheckCollision function with my own OMPL project; however, its planning result is way slower than the official OMPL plugin.
I guess it is due to the collision check (sim.CheckCollision) via simxCallScriptFunction.

Question:
If we compare the processing time between the provided remote API and the same functionality with simxCallScriptFunction, is simxCallScriptFunction generally slower than the provided remote API?

If the answer to the question is yes, I'd consider moving to BlueZero API.

Thanks,

[coppelia]

Hello,

if I understood this correctly, you are trying to use the OMPL library in your application, and use CoppeliaSim's collision detection functionality?

The problem with this is indeed speed, since path planning normally tests thousands of different configurations to find a path, and having a communication delay between each testing would extremely slow down things.

You have two better ways of doing this:

• either you use the OMPL functionality built in CoppeliaSim
• or you use the Coppelia Geometric Routines for collision detection / distance calculation, etc., within your own app

Cheers

[hiros]

Yes, that is exactly what I want to do.
Thanks for your reply, that is really helpful.